MPBRS：ヒューマノイド歩行における報酬設定を統一するマルチポテンシャルベース報酬整形
MPBRS: Multi-Potential-Based Reward Shaping for Unified Reward Configuration in Humanoid Locomotion
複数のポテンシャル関数の差分で報酬を整形するMPBRSをヒューマノイド歩行に適用し、9体のロボットで同一の報酬構造・重みを共有できる統一的な報酬設定を提案した論文。
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著者: Van Chung Nguyen, Hung Manh La
分類: cs.RO, cs.AI
原文アブストラクト
Designing and tuning reward functions remains one of the main challenges in building effective reinforcement learning (RL) pipelines for humanoid locomotion. While shaping rewards can accelerate learning, naively formulated terms often conflict with the desired behavior, overfit to a specific robot, or become unstable under small weight changes. Potential-Based Reward Shaping (PBRS) offers an alternative solution: shaping the reward via differences of a potential function to guide exploration without changing the optimal policy. In this paper, we study Multi-PBRS for humanoid locomotion and propose a unified reward configuration. We then evaluate the same reward structure and weights across nine humanoid robots, requiring only robot-specific metadata (joint/link mappings and default poses) rather than per-robot reward redesign. Our experiments show that, compared to standard shaping, MPBRS provides more consistent scaling behavior and reduced tuning sensitivity across robots, making it easier to tune without altering the optimal policy.